SPINE Gripper: 一种基于扭曲欠驱动机制的被动模式转换夹具
SPINE Gripper: A Twisted Underactuated Mechanism-based Passive Mode-Transition Gripper
AI总结：
SPINE Gripper通过机械设计实现无需传感器或主动控制的双向抓取与旋转转换，展示非共面多功能操作的机械实现。
摘要：
本文提出了一种单驱动器被动夹具，通过机械编码的功率传输逻辑实现稳定抓取和连续的双向手内旋转。与传统的多功能夹具不同，该夹具仅根据施加的输入扭矩大小在抓取和旋转之间切换。这种行为的关键在于扭曲欠驱动机制（TUM），它能从单一的旋转输入中产生非共面运动，即轴向收缩和旋转，并且无论旋转方向如何，产生的收缩量都相同。摩擦发生器机械地定义了扭矩阈值，以控制被动模式的切换，使夹具在无需传感或主动控制的情况下，能够稳定地建立抓取并自动过渡到手内旋转。推导并验证了TUM的运动学、弹性力生成和扭矩传输的分析模型。通过定量实验评估了制造的夹具在抓取成功率、基于摩擦的抓取力调节和双向旋转性能方面的表现。系统级演示，包括螺栓操作、物体重新定向以及由腕部扭矩驱动的机械臂集成任务，证实了在两个旋转方向上都能可靠地实现抓取到旋转的转换。这些结果表明，通过机械设计本身可以实现非共面的多功能操作，确立了机械编码的功率传输逻辑作为比驱动器和控制密集型夹具架构更稳健的替代方案。
英文摘要：
This paper presents a single-actuator passive gripper that achieves both stable grasping and continuous bidirectional in-hand rotation through mechanically encoded power transmission logic. Unlike conventional multifunctional grippers that require multiple actuators, sensors, or control-based switching, the proposed gripper transitions between grasping and rotation solely according to the magnitude of the applied input torque. The key enabler of this behavior is a Twisted Underactuated Mechanism (TUM), which generates non-coplanar motions, namely axial contraction and rotation, from a single rotational input while producing identical contraction regardless of rotation direction. A friction generator mechanically defines torque thresholds that govern passive mode switching, enabling stable grasp establishment before autonomously transitioning to in-hand rotation without sensing or active control. Analytical models describing the kinematics, elastic force generation, and torque transmission of the TUM are derived and experimentally validated. The fabricated gripper is evaluated through quantitative experiments on grasp success, friction-based grasp force regulation, and bidirectional rotation performance. System-level demonstrations, including bolt manipulation, object reorientation, and manipulator-integrated tasks driven solely by wrist torque, confirm reliable grasp to rotate transitions in both rotational directions. These results demonstrate that non-coplanar multifunctional manipulation can be realized through mechanical design alone, establishing mechanically encoded power transmission logic as a robust alternative to actuator and control intensive gripper architectures.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
